EP0879934B1 - System und Verfahren zur Verbindung von zwei relativ zueinander beweglichen Einheiten, insbesondere in Unterwasseranlagen - Google Patents

System und Verfahren zur Verbindung von zwei relativ zueinander beweglichen Einheiten, insbesondere in Unterwasseranlagen Download PDF

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Publication number
EP0879934B1
EP0879934B1 EP98400887A EP98400887A EP0879934B1 EP 0879934 B1 EP0879934 B1 EP 0879934B1 EP 98400887 A EP98400887 A EP 98400887A EP 98400887 A EP98400887 A EP 98400887A EP 0879934 B1 EP0879934 B1 EP 0879934B1
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Prior art keywords
fixed
mobile
assembly
pipe
receptacle
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EP98400887A
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English (en)
French (fr)
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EP0879934A1 (de
Inventor
Calum Mackinnon
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Technip Energies France SAS
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Technip France SAS
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
    • E21B43/013—Connecting a production flow line to an underwater well head
    • E21B43/0135—Connecting a production flow line to an underwater well head using a pulling cable
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads

Definitions

  • the present invention relates to a connection system between a fixed or momentarily fixed assembly and a mobile assembly, especially in underwater installations as well as a method for tightly connect two ends of two separate pipes and movable relative to each other.
  • fixed assembly means any stationary assembly such as an oil wellhead, a collector which is connected to a set of well heads, or part of a fixed installation anchored in the seabed, such as a pipe of the type flexible which is considered to be fixed at the time of connection, these elements being cited by way of example.
  • mobile assembly any assembly which is located initially at a greater or lesser distance from the whole fixed to which it must be connected.
  • the mobile assembly can be constituted, by example, by the end of a flexible pipe resting on the bottom sailor or on a sleigh (sled in English) and whose other end is connected, for example, to an underwater production device, or a intermediate connection pipe (spoolpiece in English).
  • connection systems One of the best known connection systems is the one called DMaC (acronym for Diverless Maintained Cluster) and described in the OFFSHORE ENGINEER Journal, April 1990, p. 71-74: OC 6720, p. 209-220.
  • connection systems exist, such as the one sold by the company SON SUB, under the reference DFCS (Diverless Flowline Connection System).
  • the DFCS uses a ROV and a traction cable for guidance of the movable element towards the fixed element.
  • connection systems are designed so that the connection means are mounted in an end device which is secured to the fixed assembly.
  • leak testing carried out before the operational use of the pipeline or periodically in during use are defective, it is necessary to repair or change the connection means and, in particular, the sealing members. Therefore, a or several complicated and very expensive interventions are essential the organs requiring intervention (s) are arranged inside the fixed assembly.
  • the robot must be fixed on a sled (in English) on which is mounted in solidarity the end of the movable pipe.
  • This fixing can be done from direct way by fixing the lower part of the robot which is called box in what follows (skid in English) and which contains at least part of equipment comprising one or more winches, cables traction, possibly control cylinders.
  • Another way to fixing the robot to the sled is to first fix the box on the sled then proceed to the connection between the robot and the box. After anchoring traction cables on the whole or fixed structure and after the robot is secured to the sled, begins the transport phase of the movable pipe towards the end of the fixed pipe. When the pipes are at different levels, the movable pipe is lifted and transported towards the fixed pipe.
  • the robot rears up in tilting backwards, the angle of inclination of the robot relative to a horizontal direction substantially parallel to the seabed increasing at as the robot approaches the fixed structure.
  • the tilt of the rear part of the robot or of the box which is integral with it causes more or less serious consequences which depend on the impact zones of the robot.
  • the rear of the latter hits the movable pipe, it may damage to said line.
  • the robot can also undergo a damage and must in any case develop significant forces to relax.
  • the propellant generally with propellers, being in operation and blowing from front to back, it occurs a cloud of particles all around the robot, which in the final approach towards the fixed structure, can fall at least in part on the means of locking when these are mounted on the fixed pipe before the connection of the two ends.
  • the introduction, even reduced, of particles in the locking means can cause a fault sealing and even early wear of said locking means.
  • the object of the present invention is to remedy the drawbacks mentioned above and to propose a system and a method of connection between two ends of pipes which are simple to implement and which allow secure connection.
  • An object of the present invention relates to a system for connection between two mobile assemblies relative to each other, type comprising a remotely controlled robot comprising means propulsion and at least one equipment including traction means which are fixed on the assembly considered to be fixed during the connection, fixing means on the other assembly considered as being mobile and having to be connected to said fixed assembly, winching means of said traction means, said equipment being at less partially housed in a receiving box, characterized in that the remotely controlled robot further comprises a front chassis pivoting about a pivot axis, said front frame comprising said fixing means on the mobile assembly, the pivoting of said front frame being controlled so that during the movement of the mobile assembly towards the fixed assembly, said robot is maintained constantly in a substantially horizontal position.
  • the chassis swivel includes control cylinders.
  • the axis of each cylinder piston is always parallel to that of the guide and centering fixed on the mobile assembly.
  • the fixed assembly is constituted by a fixed structure 1, for example a wellhead or an underwater manifold, into which is mounted also fixes an end 2a of a pipe 2.
  • the assembly mobile is constituted by a flexible pipe 3 whose free end 4, connect with the fixed end 2a of the pipe 2, is integral with a sleigh 5 (sled in English) ( Figure 1).
  • a receptacle 6 (Figure 2) is made integral with the structure fixed 1 in a generally inclined direction to facilitate the connection, the angle of inclination being of the order of 15 ° relative to the horizontal, corresponding to the natural angle of a flexible pipe at time of connection with a fixed pipe.
  • the receptacle 6 (figure 2a) comprises a front wall 7 in which is formed a opening 8 for access to the mobile end 4 of the flexible pipe 3, and a rear wall 9 in which is also provided an orifice 10 for the passage of the fixed end 2a to be connected to the mobile end 4.
  • Ports 10a are also provided on the rear wall 9 and serve to fixing and positioning the end 2a of the fixed pipe 2 by relative to said wall which constitutes the positioning reference for the various elements involved in the connection.
  • the receptacle 6 includes also guide housings having the form of funnels 11 which are arranged laterally on either side of the access openings 8 and 10, each funnel 11 comprising a slot 12 formed along at least minus part of an upper generator. Above each funnel 11 and preferably slightly offset towards the openings 8 and 10, a passage 13 is provided for the reception of pistons which will be described later.
  • the receptacle 6 also includes on at least one of the lateral sides a frame constituted by lateral plates 14 in which are formed holes or housings 15 for receiving weights of a flotation unit which will be described later.
  • the holes 15 may have different dimensions, which only depend only the dimensions of the weights, themselves dependent on the weight compensate for.
  • a centering hole 15a is also provided for receiving a flotation unit centering pin.
  • the internal dimensions of the receptacle 6 and in particular the distance separating the front 7 and rear 9 walls are chosen such that so that the interior space 16 of said receptacle is sufficient to move fully locking means 60 which will be used to lock the connected ends in their final position of connection ( Figure 2b). Space 16 is also suitable for possibly house inspection facilities there.
  • the robot designated as a whole by the reference 17 and shown in Figures 3a and 3b comprises, in a manner known per se lower box 18 (skid in English) in which is housed at least partially equipment comprising winches 19 for winding and unwind the traction cables 20, and all the other accessories necessary for its displacement, such as propulsion engines 21.
  • An important feature of the present invention is to mount integral with the lower box 18 a front frame 22 which pivots about a horizontal pivot axis 23, so that said chassis front 22 can pivot relative to the box which remains fixed and integral with the robot.
  • the front frame 22 comprises at least two lateral arms 24 which pivot with said front frame, said arms 24 each being constituted by a triangular angle.
  • On at least one and, preferably on each arm 24 is fixed a small thin tube 25 through which passes a pulling cable which is thus guided.
  • Pawns of positioning 26 are provided on the front chassis and are used to connect said chassis with the sled 5, the final fixing between the chassis front 22 and the sled 5 being provided by means of a lock 27.
  • Each arms 24 is capable of being housed at least partially by its part at the top in a slot 28 formed along a generator upper in each of at least two hollow guide pins and centering 29, said pins 29 being integral with the sled 5.
  • the traction cables are centered substantially in the axis of the pins.
  • the sled 5 is free to rotate relative to the pipe mobile 3 thanks to a bearing but the orientation of the flexible pipe, when it consists of a bundle of pipes such as a umbilical, can be determined by an orientation mechanism that can be of several types.
  • a first mechanism can be constituted by a crown toothed mounted on the sled and meshing with a pinion mounted on the robot housing.
  • a second mechanism can be constituted by a system with ratchet, like the one shown in Figure 3b, which system includes a jack 31 secured to an arm 31a which is engaged with a toothed wheel 30. Orientation, in this case, is carried out step by step.
  • driving mobile is dragged on the seabed ( Figure 1).
  • Figure 10a the traction on the cables 20 raises the end 4 of the flexible pipe, the angle of inclination ⁇ increasing as the approach to the fixed structure 1 which is located at a higher level
  • the robot remains in a substantially horizontal position because only the front frame 22 pivots around the pivot axis to compensate the inclination of the mobile flexible pipe 3 between its starting position and its position of arrival at the level of the fixed structure 1.
  • the traction cables remain perfectly in the axis of pins 29 thanks to the fact that they are kept guided in the small tubes 25 integral with the arms 24.
  • locking latches 32 arranged in the receptacle hold each pin 29 in a reference position so as to prevent any displacement (figure 5). Locking each pin 29 in the reference position is determined so a certain distance is made between the ends to be connected to allow any intervention in the receptacle, such as example a change and / or an inspection of the locking means of said ends.
  • a lever mechanism 33 is also provided to hold each corresponding locking latch in the open or closed position.
  • 34b cylinders push-pull cylinder in fixed on the front frame 22 are actuated so that the pistons 34 are introduced into the passages 13 of the receptacle 6.
  • the pistons 34 are locked in their working position and the whole sled 5 and the movable pipe 3 is straightened so that the pins 29 are aligned in the axis of the funnels 11.
  • the distance d separating the axis 34a from the pistons 34 and the axis 29a from the pins 29 is determined to create sufficient time for recovery sled and pins.
  • the fixed end 2a comprises two pipes 38, 39 which are connected to two purge valves 40, 41 (FIG. 8), the pipes 38, 39 leading respectively to the top and the bottom of said fixed end.
  • the robot 17 also includes a flotation unit 43 ( Figures 9a and 9b) which is used to compensate for the weight of the means of locking 60 when these are moved inside the receptacle 6.
  • Unit 43 includes flotation material 44 such as foam synthetic and weights or weights 45 which are engaged in the housings 15 provided for this purpose in the receptacle 6 before picking up and moving the locking means. In fact, we determine the weight of the weights in depending on the weight of the locking means.
  • the positioning of the unit 43 on the receptacle 6 is provided by movable pins 46 which engage in the holes 15a of said receptacle. All these functions commitment and installation of weights in the accommodation then gripping and displacement of the locking means are ensured by the robot sequentially and very precisely.
  • Another feature of the present invention is to provide the end of the traction cables to be fixed on the fixed structure or on the receptacle, a termination head which can be installed in situ, this operation consisting in introducing the cable into a small hollow cylinder, spread the strands of the cable and outside around the cylinder, to introduce within the cable a stud that is pushed into the cable until its full introduction.

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  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
  • Manipulator (AREA)
  • Supports For Pipes And Cables (AREA)
  • Joining Of Building Structures In Genera (AREA)
  • Connector Housings Or Holding Contact Members (AREA)
  • Coupling Device And Connection With Printed Circuit (AREA)
  • Duct Arrangements (AREA)
  • Joints Allowing Movement (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Claims (29)

  1. Verbindungssystem zwischen einer ersten Baueinheit (2) und einer zweiten Baueinheit (3), die relativ zueinander beweglich sind, des Typs, der einen ferngesteuerten Roboter (17) mit Vortriebsmitteln (21) und wenigstens einer Einrichtung (19, 20), die Zugmittel (20), die sich an der während der Verbindung als fest betrachteten Baueinheit (2) befestigen, aufweist, Mittel zum Befestigen an der als beweglich betrachteten Baueinheit, die mit der festen Baueinheit verbunden werden soll, und Mittel (19) zum Aufwickeln der Zugmittel umfasst, wobei die Einrichtung wenigstens teilweise in einem Aufnahmekasten (18) untergebracht ist, wobei wenigstens ein Teil der Befestigungsmittel an einem vorderen Element angebracht ist, das um eine Schwenkachse schwenkt, dadurch gekennzeichnet, dass das schwenkbare vordere Element ein vorderer schwenkbarer Rahmen ist, der an dem ferngesteuerten Roboter (17) angebracht ist, wobei der schwenkbare Rahmen Mittel zum Befestigen an der mobilen Baueinheit umfasst, wobei die Schwenkung des vorderen Rahmens in der Weise gesteuert wird, dass der Roboter während der Verlagerung der beweglichen Baueinheit zu der festen Baueinheit ständig in einer im Wesentlichen horizontalen Position gehalten wird.
  2. System nach Anspruch 1, dadurch gekennzeichnet, dass der Roboter (17) außerdem wenigstens zwei Arme (24) umfasst, die an dem schwenkbaren vorderen Rahmen befestigt sind.
  3. System nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der vordere Rahmen (22) Stellzylinder (34b) zum Steuern und Ausrichten der beweglichen Baueinheit umfasst.
  4. System nach Anspruch 2, dadurch gekennzeichnet, dass wenigstens einer der Arme (24) ein dünnes Rohr (25) zum Führen und Zentrieren eines der Zugseile (20) umfasst.
  5. System nach Anspruch 1, dadurch gekennzeichnet, dass die Befestigung zwischen dem Roboter (17) und der beweglichen Baueinheit (3) über den vorderen Rahmen (22) über einen mit der beweglichen Baueinheit (3) fest verbundenen Schlitten (5) erfolgt.
  6. System nach Anspruch 5, dadurch gekennzeichnet, dass der Schlitten (5) wenigstens zwei hohle Führungs- und Zentrierungsstifte (29) umfasst, die mit Aufnahmeorganen (11) zusammenwirken, die mit der festen Baueinheit (2) fest verbunden sind, wobei die Stifte jeweils einen Schlitz (28) aufweisen, der im Wesentlichen auf einer oberen Erzeugenden ausgespart ist.
  7. System nach Anspruches, dadurch gekennzeichnet, dass jeder der Schlitze (28) der Führungs- und Zentrierungsstifte (29) einen Aufnahmesitz für wenigstens ein freies Ende eines Arms (24) bildet.
  8. System nach Anspruch 1 und 4, dadurch gekennzeichnet, dass wenigstens das Zugseil (20), das in dem dünnen Rohr (25) verläuft, auf der Achse des entsprechenden Stifts (29) positioniert ist.
  9. System nach den Ansprüchen 2 und 7, dadurch gekennzeichnet, dass jeder Arm (24) durch ein dreieckiges Winkelprofil gebildet ist, dessen Scheitelabschnitt sich in dem entsprechenden Schlitz des zugeordneten Stifts befindet.
  10. System nach Anspruch 3, dadurch gekennzeichnet, dass die Kolben (34) der Stellzylinder (34b) zwischen den Armen (24) verlagert werden, wobei die Kolben in ihrer ausgefahrenen Position in Durchgänge (13) einfahren, die in der festen Baueinheit ausgespart sind.
  11. System nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass sich die zwei zu verbindenden Baueinheiten (2, 3) im Wesentlichen auf derselben Höhe befinden.
  12. System nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass sich die zwei zu verbindenden Baueinheiten (2, 3) auf unterschiedlichen Höhen befinden.
  13. System nach den Ansprüchen 10 und 12, dadurch gekennzeichnet, dass die Kolben (34) der Stellzylinder (34b) in Winkelrichtung in den Durchgängen (13) verlagert werden, um die endgültige axiale Positionierung der beweglichen Baueinheit (3) in Bezug auf die feste Baueinheit (2) zu gewährleisten.
  14. System nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, dass der Roboter (17) eine abnehmbare schwimmfähige Einheit (43) umfasst.
  15. System nach einem der Ansprüche 1 bis 14, dadurch gekennzeichnet, dass die mobile Baueinheit durch eine flexible Leitung (3) gebildet ist, wovon ein freies Ende (4) mit einem festen Ende (2a) zu verbinden ist, das an einer die feste Baueinheit bildenden festen Struktur (1) angebracht ist.
  16. System nach Anspruch 15, dadurch gekennzeichnet, dass der Winkel des Endes der festen Leitung (2) in Bezug auf eine Horizontale im Wesentlichen gleich dem natürlichen Winkel der beweglichen Leitung (3) in der Größenordnung von 15° ist.
  17. System nach Anspruch 15, dadurch gekennzeichnet, dass sich die bewegliche Leitung (3) in Bezug auf den Schlitten (5) frei drehen kann, wobei die korrekte Orientierung der beweglichen Leitung in Bezug auf die Leitung über einen Orientierungsmechanismus (30, 31) erhalten wird.
  18. System nach Anspruch 17, dadurch gekennzeichnet, dass die endgültige Positionierung der Verbindung mittels Positionierungsorganen (42) erhalten wird, die an den zu verbindenden Enden (2a, 4) vorgesehen sind.
  19. System nach den Ansprüchen 1 und 15, dadurch gekennzeichnet, dass an der festen Struktur (1) ein Aufnahmeraum (6) angebracht ist, wobei das feste Ende (2a) und das bewegliche Ende (4), die zu verbinden sind, in den Aufnahmeraum münden, in dem sich auch Verriegelungsmittel (60) für die zu verbindenden Enden befinden, und dass in dem Aufnahmeraum ein Raum (16) ausgespart ist, der die Verlagerung der Verriegelungsmittel (60) als Ganzes in der axialen Richtung des beweglichen Endes (4) ermöglichen, nachdem dieses letztere von dem festen Ende getrennt worden ist.
  20. System nach Anspruch 19, dadurch gekennzeichnet, dass der Aufnahmeraum (6) eine Rückwand (9) aufweist, an der das feste Ende (2a) befestigt ist und die eine Positionierungs- und Zentrierungsreferenz für die an der Verbindung teilhabenden Elemente bildet.
  21. System nach Anspruch 19 oder 20, dadurch gekennzeichnet, dass der Aufnahmeraum Aufnahmesitze (11) für die Führungs- und Zentrierungsorgane (29) aufweist, die mit dem zu verbindenden beweglichen Ende fest verbunden sind, wobei die Aufnahmesitze (11) beiderseits der Durchgangsöffnung (8) ausgespart sind.
  22. System nach Anspruch 21, dadurch gekennzeichnet, dass jeder der Aufnahmesitze (11) wenigstens auf einem Teil einer oberen Erzeugenden geschlitzt ist.
  23. System nach Anspruch 19 oder 22, dadurch gekennzeichnet, dass jeder Aufnahmesitz (11) die Form eines Führungstrichters hat.
  24. System nach einem der Ansprüche 19 bis 23, dadurch gekennzeichnet, dass die oberen Durchgänge (13) über den Führungsaufnahmesitzen ausgespart sind.
  25. System nach einem der Ansprüche 19 bis 24, dadurch gekennzeichnet, dass es außerdem Blockiermittel (32) für die Führungs- und Zentrierungsorgane (29) in den Führungsaufnahmesitzen (11) umfasst.
  26. System nach einem der Ansprüche 19 bis 25, dadurch gekennzeichnet, dass es an wenigstens einer der Seiten einen Rahmen (14) aufweist, in dem Aufnahmeöffnungen (15) für den Ballast der Einheit (43) zum Wechseln der Verriegelungsmittel (60) ausgespart sind.
  27. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der ferngesteuerte Roboter (17) während der Befestigung des schwenkbaren vorderen Rahmens (22) an der beweglichen Baueinheit (3) horizontal gehalten wird.
  28. Verfahren zum Verbinden einer Einheit (4) einer beweglichen Leitung (3) mit einem Ende (2a) einer festen Leitung (2), die mit einer festen Struktur (1) fest verbunden ist, mittels des Aufnahmebehälters (6) nach einem der Ansprüche 19 bis 27, dadurch gekennzeichnet, dass es darin besteht:
    den Aufnahmebehälter (6) an der festen Struktur (1) anzubringen,
    die Verriegelungsmittel (60) an der hinteren Platte (9) des Aufnahmebehälters zu befestigen,
    das Ende (4) der beweglichen Leitung (3) zu dem festen Ende (2a) der festen Leitung (2) zu verlagern, bis Führungs- und Zentrierungsstifte (29), die mit dem beweglichen Ende (3) fest verbunden sind, in den Führungsaufnahmesitzen (11) des Aufnahmebehälters angeordnet sind,
    das Ende (4) der beweglichen Leitung (3) auszurichten, um sie auf eine axiale Richtung der zwei zu verbindenden Enden (2a, 4) der Leitungen (2, 3) auszurichten,
    die axiale Verlagerung der beweglichen Leitung (3) fortzusetzen, bis die zwei zu verbindenden Enden (2a, 4) in der korrekten Verbindungsposition und beiderseits einer Dichtung (37), die sich zwischen den in Kontakt befindlichen Abschnitten (35, 36) der Enden befindet, sind,
    Entleerungsmittel (40, 41) zu betätigen, um ein eventuelles Fluid, das zwischen der Dichtung (37) und zumindest dem Kontaktteil (36) des festen Endes (2a) vorhanden ist, auszustoßen, und
    die Verriegelungsmittel (60) zu betätigen, um das feste Ende (2a) und das bewegliche Ende (4) in der endgültigen Verriegelungsposition zu verriegeln.
  29. Verfahren nach Anspruch 28, dadurch gekennzeichnet, dass es darin besteht:
    einen ferngesteuerten Roboter (17) zu verwenden, um das bewegliche Ende (4) zu dem festen Ende (2a) zu verlagern, wobei der Roboter in bekannter Weise eine Verankerungs- und Zugeinrichtung (20) umfasst, die sich wenigstens teilweise in einem Kasten (18) befindet, wobei die Einrichtung wenigstens Verankerungs- und Zugseile (20), Winden (19) für die Seile und Steuerungsstellzylinder (34b) umfasst,
    die Zugseile (20) hinter dem Aufnahmeraum (6) zu verankern, indem sie durch die Führungsaufnahmesitze (11) geführt werden,
    einen schwenkbaren vorderen Rahmen (22) des Roboters an einem mit dem beweglichen Ende (4) fest verbundenen Schlitten (5) zu befestigen,
    den Roboter (17) und den Schlitten (5) zu verlagern, indem der vordere Rahmen während der Verlagerung der festen Leitung geschwenkt wird, derart, dass der Roboter unabhängig vom Winkel, den das bewegliche Ende in Bezug auf die horizontale Richtung bildet, in einer im Wesentlichen horizontalen Position gehalten wird.
EP98400887A 1997-05-23 1998-04-10 System und Verfahren zur Verbindung von zwei relativ zueinander beweglichen Einheiten, insbesondere in Unterwasseranlagen Expired - Lifetime EP0879934B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9706314 1997-05-23
FR9706314A FR2763636B1 (fr) 1997-05-23 1997-05-23 Systeme et procede de raccordement entre deux ensembles mobiles l'un par rapport a l'autre, notamment dans des installations sous-marines

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Publication Number Publication Date
EP0879934A1 EP0879934A1 (de) 1998-11-25
EP0879934B1 true EP0879934B1 (de) 2004-10-13

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US (1) US5975803A (de)
EP (1) EP0879934B1 (de)
AT (1) ATE279640T1 (de)
AU (1) AU738736B2 (de)
BR (1) BR9801672A (de)
CA (1) CA2238588C (de)
DE (1) DE69826920D1 (de)
FR (1) FR2763636B1 (de)
NO (1) NO313432B1 (de)
OA (1) OA10771A (de)
ZA (1) ZA983474B (de)

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NO20002065L (no) * 2000-04-18 2001-10-19 Kongsberg Offshore As Fremgangsmåte for tilkobling av undersjöiske rörledninger samt et verktöy for slik tilkobling
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OA10771A (en) 2002-12-13
NO982345D0 (no) 1998-05-22
EP0879934A1 (de) 1998-11-25
DE69826920D1 (de) 2004-11-18
ATE279640T1 (de) 2004-10-15
AU6593398A (en) 1998-11-26
FR2763636B1 (fr) 1999-06-25
FR2763636A1 (fr) 1998-11-27
AU738736B2 (en) 2001-09-27
CA2238588C (en) 2006-09-05
NO982345L (no) 1998-11-24
BR9801672A (pt) 1999-06-29
NO313432B1 (no) 2002-09-30
CA2238588A1 (en) 1998-11-23
ZA983474B (en) 1998-11-02
US5975803A (en) 1999-11-02

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